version: 66.04
glider: 512
mission: 4
dive: 217
start: 10 27 113 14 2 55
data:
$ID,512
$MISSION,4
$DIVE,217
$D_SURF,3
$D_FLARE,2
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,650
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-110703.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2693
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,30
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2925
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004340203
$SEABIRD_T_H,0.00063076179
$SEABIRD_T_I,2.430566e-05
$SEABIRD_T_J,2.6124515e-06
$SEABIRD_C_G,-9.8985863
$SEABIRD_C_H,1.1020875
$SEABIRD_C_I,-0.0015707363
$SEABIRD_C_J,0.00019845086
$GPS1,134724,2239.426,-15741.867,40,1.3,40,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-84.1
$GPS2,140200,2239.353,-15742.070,9,1.3,15,10.1
$SPEED_LIMITS,0.214,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,0.001
$KALMAN_X,76651.8,-223.1,181.5,-45898.2,-3143.8
$KALMAN_Y,102350.6,-244.4,220.9,-111078.0,-255.4
$MHEAD_RNG_PITCHd_Wd,79.7,7423,-18.9,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.51,-126.5,0.0,0.0,0,93,0.00,0.00,-68.62,0.000,2,0.000,0.000,22,2533,2952
$GC,98,-0.51,-126.5,2.4,-2.2,8,127,9.45,1.58,-10.32,0.000,4,0.199,0.055,2513,3556,3440
$GC,235,-0.51,-126.5,45.7,-27.7,24,239,0.00,1.55,0.00,0.000,6,0.000,0.019,2517,2481,3441
$GC,508,-0.51,-126.5,108.2,-19.7,49,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2472,3442
$GC,774,-0.51,-126.5,161.4,-19.7,74,778,0.00,1.62,0.00,0.000,4,0.000,0.043,2510,3544,3443
$GC,838,-0.51,-126.5,174.4,-17.9,79,846,0.00,1.48,0.00,0.000,6,0.000,0.019,2516,2492,3443
$GC,1108,-0.51,-126.5,221.2,-17.2,96,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2484,3443
$GC,1352,-0.51,-126.5,256.7,-14.2,102,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2484,3442
$GC,1596,-0.51,-126.5,287.2,-12.3,108,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2484,3443
$GC,1840,-0.51,-126.5,315.1,-11.4,114,1843,0.00,1.62,0.00,0.000,4,0.000,0.044,2509,3555,3442
$GC,1858,-0.51,-126.5,317.8,-11.9,114,1862,0.00,1.48,0.00,0.000,6,0.000,0.021,2509,2504,3442
$GC,2136,-0.51,-126.5,351.2,-12.2,121,2140,0.00,1.60,0.00,0.000,4,0.000,0.046,2502,3548,3440
$GC,2199,-0.51,-126.5,359.9,-12.8,122,2203,0.00,1.45,0.00,0.000,6,0.000,0.021,2506,2521,3439
$GC,2476,-0.51,-126.5,396.0,-13.4,129,2480,0.00,1.60,0.00,0.000,4,0.000,0.048,2500,3559,3438
$GC,2495,-0.51,-126.5,399.1,-13.5,129,2498,0.00,1.45,0.00,0.000,6,0.000,0.021,2505,2539,3438
$GC,2773,-0.51,-126.5,434.8,-12.9,136,2776,0.00,1.50,0.00,0.000,4,0.000,0.022,2508,1460,3435
$GC,2853,-0.51,-126.5,445.1,-11.5,137,2856,0.00,1.58,0.00,0.000,6,0.000,0.041,2502,2487,3435
$GC,3113,-0.51,-126.5,476.1,-12.3,144,3117,0.00,1.67,-0.08,0.000,4,0.000,0.067,2494,3560,3457
$GC,3177,-0.51,-126.5,484.3,-11.7,145,3181,0.00,1.50,0.00,0.000,6,0.000,0.021,2500,2512,3456
$GC,3455,-0.51,-126.5,514.2,-10.6,152,3458,0.00,1.65,0.00,0.000,4,0.000,0.050,2494,3556,3455
$GC,3495,-0.51,-126.5,519.0,-10.8,152,3504,0.00,1.48,0.00,0.000,6,0.000,0.022,2500,2523,3454
$GC,3750,-0.51,-126.5,543.3,-9.5,159,3754,0.00,1.62,0.00,0.000,4,0.000,0.051,2494,3556,3453
$GC,3786,-0.51,-126.5,547.3,-10.2,159,3789,0.00,1.42,0.00,0.000,6,0.000,0.024,2499,2565,3452
$GC,4047,-0.51,-126.5,573.1,-10.3,166,4051,0.00,1.55,0.00,0.000,4,0.000,0.025,2507,1466,3450
$GC,4083,-0.51,-126.5,577.6,-10.5,166,4086,0.00,1.65,0.00,0.000,6,0.000,0.043,2501,2557,3450
$GC,4343,-0.51,-126.5,605.0,-10.9,173,4346,0.00,1.58,0.00,0.000,4,0.000,0.053,2494,3566,3447
$GC,4400,-0.51,-126.5,611.8,-11.0,174,4404,0.00,1.42,0.00,0.000,6,0.000,0.024,2499,2580,3446
$GC,4684,-0.51,-126.5,641.7,-10.7,181,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2571,3445
$GC,4927,-0.51,-126.5,667.1,-10.4,187,4931,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1465,3443
$GC,4985,-0.51,-126.5,673.1,-9.5,188,4989,0.00,1.70,0.00,0.000,6,0.000,0.045,2501,2555,3442
$GC,5268,-0.51,-126.5,698.7,-9.1,195,5272,0.00,1.58,0.00,0.000,4,0.000,0.025,2507,1466,3440
$GC,5304,-0.51,-126.5,702.0,-8.4,195,5307,0.00,1.65,0.00,0.000,6,0.000,0.045,2501,2543,3440
$GC,5566,-0.51,-126.5,723.2,-8.3,202,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2542,3439
$GC,5809,-0.51,-126.5,742.9,-8.1,208,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2542,3437
$GC,6053,-0.51,-126.5,763.5,-8.4,214,6057,0.00,1.60,0.00,0.000,4,0.000,0.056,2493,3557,3437
$GC,6127,-0.51,-126.5,770.5,-8.7,215,6131,0.00,1.48,0.00,0.000,6,0.000,0.026,2498,2551,3436
$GC,6394,-0.51,-126.5,793.6,-8.9,222,6397,0.00,1.52,0.00,0.000,4,0.000,0.026,2507,1479,3435
$GC,6445,-0.51,-126.5,798.0,-7.8,223,6449,0.00,1.62,0.00,0.000,6,0.000,0.047,2501,2529,3434
$GC,6740,-0.51,-126.5,823.7,-8.9,230,6743,0.00,1.60,0.00,0.000,4,0.000,0.056,2493,3563,3432
$GC,6809,-0.51,-126.5,830.5,-9.6,231,6812,0.00,1.50,0.00,0.000,6,0.000,0.026,2498,2542,3431
$GC,7082,-0.51,-126.5,854.6,-9.0,238,7085,0.00,1.62,0.00,0.000,4,0.000,0.055,2493,3567,3430
$GC,7114,-0.51,-126.5,858.2,-10.0,238,7117,0.00,1.50,0.00,0.000,6,0.000,0.027,2498,2548,3430
$GC,7380,-0.51,-126.5,882.0,-9.0,245,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2540,3430
$STATE,7578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7578,begin apogee
$GC,7590,-0.17,0.0,900.1,8.8,250,7702,0.43,0.00,109.30,1.252,6,0.108,0.000,2643,2213,2925
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7708,0.51,126.5,903.6,0.0,253,7841,0.55,1.67,120.78,1.197,4,0.030,0.028,2890,1172,2408
$GC,7916,0.51,126.5,883.1,17.6,257,7921,0.12,1.70,0.00,0.000,6,0.176,0.041,2863,2230,2401
$GC,8183,0.51,126.5,838.6,16.8,264,8186,0.00,1.65,0.00,0.000,4,0.000,0.049,2862,3283,2397
$GC,8263,0.51,126.5,823.7,17.9,265,8267,0.00,1.52,0.00,0.000,6,0.000,0.027,2868,2276,2396
$GC,8524,0.51,126.5,779.6,17.0,272,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2270,2395
$GC,8767,0.51,126.5,740.3,16.0,278,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2270,2394
$GC,9011,0.51,126.5,702.2,15.7,284,9015,0.00,1.62,0.00,0.000,4,0.000,0.029,2876,1154,2393
$GC,9047,0.51,126.5,696.3,14.9,284,9050,0.00,1.70,0.00,0.000,6,0.000,0.042,2876,2256,2393
$GC,9307,0.51,126.5,655.3,15.9,291,9311,0.00,1.62,0.00,0.000,4,0.000,0.028,2882,1154,2392
$GC,9348,0.51,126.5,648.0,16.7,291,9358,0.00,1.67,0.00,0.000,6,0.000,0.041,2878,2222,2392
$GC,9605,0.51,126.5,606.5,16.7,298,9609,0.00,1.65,0.00,0.000,4,0.000,0.051,2876,3294,2392
$GC,9655,0.51,126.5,597.3,18.7,299,9659,0.00,1.55,0.00,0.000,6,0.000,0.026,2882,2247,2391
$GC,9949,0.51,126.5,547.2,17.1,306,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2241,2391
$GC,10193,0.51,126.5,507.3,16.1,312,10196,0.00,1.62,0.00,0.000,4,0.000,0.048,2877,3284,2390
$GC,10296,0.51,126.5,490.7,14.8,314,10300,0.00,1.48,0.00,0.000,6,0.000,0.027,2884,2290,2390
$GC,10579,0.51,126.5,450.2,14.5,321,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2283,2390
$GC,10823,0.51,126.5,415.8,14.1,327,10826,0.00,1.58,0.00,0.000,4,0.000,0.048,2884,3276,2389
$GC,10841,0.51,126.5,412.7,13.6,327,10846,0.10,1.45,0.00,0.000,6,0.182,0.027,2862,2296,2389
$GC,11119,0.51,126.5,378.3,12.2,334,11123,0.00,1.62,0.00,0.000,4,0.000,0.030,2868,1154,2388
$GC,11259,0.51,126.5,361.8,11.4,337,11263,0.00,1.73,0.00,0.000,6,0.000,0.042,2866,2278,2389
$GC,11553,0.51,126.5,330.4,10.0,344,11557,0.00,1.55,0.00,0.000,4,0.000,0.048,2863,3274,2388
$GC,11610,0.51,126.5,324.2,10.4,345,11614,0.00,1.48,0.00,0.000,6,0.000,0.025,2869,2271,2388
$GC,11894,0.52,138.9,298.2,9.3,352,11908,0.00,1.60,8.43,0.782,4,0.000,0.048,2863,3278,2358
$GC,11950,0.52,138.9,291.9,11.1,353,11954,0.00,1.45,0.00,0.000,6,0.000,0.025,2868,2290,2357
$GC,12233,0.52,138.9,260.2,10.7,360,12237,0.00,1.60,0.00,0.000,4,0.000,0.028,2877,1151,2357
$GC,12257,0.53,159.1,257.7,8.9,360,12283,0.00,1.77,18.98,0.802,6,0.000,0.041,2877,2287,2275
$GC,12529,0.53,169.8,231.4,9.4,367,12543,0.00,1.52,10.62,0.741,4,0.000,0.045,2876,3287,2231
$GC,12651,0.53,169.8,217.1,11.7,369,12661,0.00,1.48,0.00,0.000,6,0.000,0.025,2881,2293,2229
$GC,12910,0.53,169.8,189.0,10.9,382,12914,0.00,1.62,0.00,0.000,4,0.000,0.027,2889,1154,2228
$GC,13017,0.53,169.8,177.4,10.1,391,13020,0.00,1.73,0.00,0.000,6,0.000,0.039,2889,2280,2227
$GC,13288,0.53,169.8,149.1,10.8,416,13292,0.00,1.55,0.00,0.000,4,0.000,0.044,2890,3290,2227
$GC,13329,0.53,169.8,144.6,11.4,419,13333,0.08,1.52,0.00,0.000,6,0.151,0.022,2862,2244,2227
$GC,13604,0.55,213.8,123.9,7.7,444,13646,0.00,0.00,37.28,0.671,6,0.000,0.000,2862,2244,2053
$GC,13910,0.55,213.8,91.9,11.2,472,13913,0.00,1.60,0.00,0.000,4,0.000,0.041,2861,3284,2050
$GC,13963,0.55,213.8,85.0,10.8,476,13972,0.00,1.48,0.00,0.000,6,0.000,0.021,2867,2274,2049
$GC,14231,0.57,260.7,62.4,7.5,501,14279,0.00,0.00,38.80,0.606,6,0.000,0.000,2867,2267,1860
$GC,14541,0.59,331.1,43.0,6.3,530,14601,0.00,0.00,56.55,0.583,6,0.000,0.000,2867,2268,1574
$GC,14881,0.61,379.1,19.1,7.4,571,14926,0.00,1.60,38.53,0.553,4,0.000,0.024,2869,1163,1379
$GC,14964,0.64,450.2,13.2,6.2,581,15026,0.00,1.73,56.78,0.544,6,0.000,0.033,2869,2278,1088
$STATE,15088,end climb,SURFACE_DEPTH_REACHED
$STATE,15088,begin surface coast
$FINISH,0.4,0.996791
$STATE,15131,end surface coast,CONTROL_FINISHED_OK
$STATE,15131,begin surface
$SM_CCo,15217,0.00,0.000,0,0,1083,451.84
$SM_GC,1.38,7.28,0.00,0.00,0.024,0.000,0.000,37,2541,1083,-8.21,0.96,451.84
$IRIDIUM_FIX,2230.01,-15743.29,210103,141403
$TT8_MAMPS,0.023777
$HUMID,2184
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.40
$XPDR_PINGS,5
$24V_AH,23.8,35.495
$10V_AH,10.6,41.129
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.000,104.900,496.025,0.000,0.000,58.560,66.130,505.564,1.250,0.000,0.000,15.221,1234.696,10087.609,446.094,3081.220,1234.042,33.368,1462.911,0.000,3086.908,0.000,0.546,0.000
$DEVICE_MAMPS,198.653,67.496,1251.744,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,409.654,1988.993,2061.882,1160.772,1411.632,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50907,604
$CAP_FILE_SIZE,123505,0
$CFSIZE,260165632,244383744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,181754,2239.154,-15741.049,39,1.9,39,10.1